AU2019200667B2 - Moving robot - Google Patents

Abstract

OF THE DISCLOSURE Disclosed is a moving robot including: a body defining an exterior; a travelling unit configured to move the body against a travel surface; an operation unit disposed in the 5 body and configured to perform a predetermined operation; a tilt information acquisition unit configured to acquire tilt information on a tilt of the travel surface; and a controller configured to, when target movement direction being preset irrespective of an inclination of the travel surface crosses ] an upward inclination direction of the travel surface, control a heading direction, which is a direction of a travelling force (Fh) preset to be applied by the travelling unit to the body, to be a direction between the target movement direction and the upward inclination direction 5 based on the tilt information. I / I'tI Fig. 1 100 110 11 157 177a(1 77)-15 e ,^171 a(1 71) S177b(1 77) 165 LeU R,171 b(1 71) f Ri D 164 121(120)

Description

I / I'tI

Fig. 1

100 110

11 157 177a(1 77)-15 e ,^171a(1 71) S177b(1 77)

165

LeU

71) R,171 b(1 f Ri D 164 121(120)

TITLE OF THE INVENTION MOVING ROBOT CROSS-REFERENCE TO RELATED APPLICATION

D This application claims the priority benefit of Korean

Patent Application No. 10-2018-0013428, filed on February 2,

2018 in the Korean Intellectual Property Office, the

disclosure of which is incorporated herein by reference.

D BACKGROUND OF THE INVENTION

1. Field of the invention

The present invention relates to travel controlling of

a moving robot.

2. Description of the Related Art

D Robots were developed for industrial use and prompted

automation of production operations. Recently, they are

being used more widely, for example, in the medical industry

and the aerospace industry. There are even domestic robots

used for household chores. Among such robots, a type of

robot capable of traveling on it own is called a moving

robot. A typical example of a moving robot used for a home's

outdoor environment is a lawn mower robot.

For a moving robot travelling in an indoor space, an

movable area is restricted by a wall or furniture, and, for

a moving robot travelling an outdoor space, it is necessary to set a movable area in advance. In addition, a movable area needs to be limited to allow the lawn mower robot to travel on a grass area.

In an existing technology (Korean Patent Application

Publication No. 2015-0125508), a wire for setting an area to

be travelled by a lawn mower robot may be installed in the

lawn mower robot, and the lawn mower robot may sense a

magnetic field formed by currents flowing by the wire and

move in an area set by the wire.

J In addition, a moving robot autonomously travelling in

an indoor place usually moves on a horizontal travel surface,

but a moving robot autonomously travelling in an outdoor

place travels not just a horizontal surface but an inclined

surface.

[Related art document]

[Patent document]

Korean Patent Application Publication No. 2015-0125508

(Publication Date: November 9, 2015)

It is to be understood that, if any prior art

publication is referred to herein, such reference does not

constitute an admission that the publication forms a part of

the common general knowledge in the art, in Australia or any

other country.

In the claims and in the description of the invention,

except where the context requires otherwise due to express

2

16899689_1 (GHMatters) P44856AU00 language or necessary implication, the word "comprise" or variations such as "comprises" or "comprising" is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.

SUMMARY OF THE INVENTION

A moving robot according to an existing technology

slips in a downward inclination direction when travelling on

J an inclined surface, thereby ended up with deviating from a

target travel route. It would be desirable to solve this

problem.

It is difficult for an outdoor moving robot to recognize

a current position based on a ceiling, a nearby wall or

furniture, and thus, even when such a moving robot slips on

an inclined travel surface, it is not easy to recognize the

moving robot's deviated from a target travel route. It would

be desirable to allow the moving robot to travel in closest

proximity to the target travel route by reflecting the

inclination of the travel surface.

It would also be desirable to provide a travel control

method optimal for each of various movement motions

performed when a moving robot moves on an inclined travel

surface.

In accordance with the present invention, there is

provided a moving robot including: a body defining an

exterior; a travelling unit configured to move the body

against a travel surface; an operation unit disposed in the

body and configured to perform a predetermined operation; a

tilt information acquisition unit configured to acquire tilt

information on a tilt of the travel surface; and a controller

configured to, when target movement direction being preset

irrespective of an inclination of the travel surface crosses

J an upward inclination direction of the travel surface,

control a heading direction, which is a direction of a

travelling force (Fh) preset to be applied by the travelling

unit to the body, to be a direction between the target

movement direction and the upward inclination direction

based on the tilt information,

wherein the controller is further configured to

activate a predetermined inclination mode when it is

determined, based on the tilt information, that a

predetermined inclination mode is satisfied, and to control

the heading direction to be different from the target

movement direction only when the inclination mode is

activated,

wherein when a target rotational route is preset

irrespective of inclination of the travel surface, the

controller is further configured to: a) in a case of travelling on a horizontal travel surface, drive the travelling unit in a preset first method such that the body moves along the target rotational route; and b) in a case of travelling on a travel surface having an inclination equal to or greater than a predetermined reference inclination, when it is determined, based on the tilt information, that a target end point of the target rotational route is located further toward an

D upward inclination direction of the travel surface compared

to a start point of the target rotational route, control the

travelling unit in a second method preset different from the

first method such that a virtual end point of a virtual

rotational route, along which the body moves by the

travelling unit when the travel surface is assumed

horizontal, is located further toward the upward inclination

direction compared to the target end point.

There is also described a moving robot including: a

body defining an exterior; a travelling unit configured to

move the body against a travel surface; an operation unit

disposed in the body and configured to perform a

predetermined operation; a tilt information acquisition unit

configured to acquire tilt information on a tilt of the

travel surface; and a controller. The controller may be

further configured to: in a case of travelling on a horizontal travel surface, drive the travelling unit in a preset first method such that the body moves along the target rotational route; and, in a case of travelling on a travel surface having an inclination equal to or greater than a predetermined reference inclination, when it is determined, based on the tilt information, that a target end point of the target rotational route is located further toward an upward inclination direction of the travel surface compared to a start point of the target rotational route, control the

J travelling unit in a second method preset different from the

first method such that a virtual end point of a virtual

rotational route, along which the body moves by the

travelling unit when the travel surface is assumed

horizontal, is located further toward the upward inclination

direction compared to the target end point.

There is also described a moving robot including: a

body defining an exterior; a travelling unit configured to

move the body against a travel surface; an operation unit

disposed in the body and configured to perform a

predetermined operation; a tilt information acquisition unit

5a configured to acquire tilt information about an inclination of the travel surface; and a controller configured to start a predetermined direction converting motion when it is determined, based on the border signal, that a predetermined motion start condition is satisfied while the body moves, and control the travelling unit to terminate the direction converting motion when it is determined, based on the border signal, that a predetermined motion termination condition is satisfied after the direction converting motion starts.

D The controller may be further configured to: in a case of

performing the direction converting motion when travelling

a horizontal travel surface, drive the travelling unit in a

preset first driving method such that the body moves along

a predetermined normal direction converting route; and, in

a case of performing the direction converting motion when

travelling on a travel surface having an inclination equal

to or greater than a predetermined reference inclination,

drive the travelling unit in a second driving method preset

different from the first driving method such that a virtual

direction converting route, along which the body moves by

the travelling unit when the travel surface is assumed

horizontal, becomes different from the normal direction

converting route.

The motion start condition may be preset to be satisfied

when the border signal detector approaches the wire within a predetermined distance. The motion termination condition may be preset to be satisfied when the border signal detector, which has moved away from the wire in response to start of the direction converting motion, approaches the wire within the predetermined distance again.

The border signal detector may be disposed at a front

of the body. A moving direction of the front at a start of

the direction converting motion may be preset to be a

direction in which the front moves away from the wire.

] According to the above-described, it is possible to

induce the moving robot to travel in proximity to a target

moving route, even though a moving robot slips in a downward

inclination direction on a travel surface having an

inclination.

According to the above-described, by reflecting an

inclination of a travel surface, it is possible to allow the

moving robot to move to a travel path in closest proximity

to a target travel route.

According to the above-described, when the moving robot

100 performs a direction converting motion in accordance

with a border signal of a wire, it is possible to prevent

that the moving robot 100 fails to terminate the direction

converting motion since the moving robot slips in a downward

inclination direction.

When a tilt value increases in a relatively short period

of time due to vibration or a local surface curve during

movement of a moving robot, the inclination mode is

maintained to be deactivated based on the inclination mode

condition, thereby reducing a probability that the

inclination mode starts unnecessarily.

A moving direction of the front of the body 110 at the

start of the direction converting motion may be preset to be

a direction in which the front of the body moves away from

D the wire, and thus, using the above-described direction

converting motion, it is possible to considerably reduce a

probability of a facility or a human out of the border, or

the moving robot 100 itself to be damaged.

7a

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments will be described in detail with

reference to the following drawings in which like reference

numerals refer to like elements wherein:

FIG. 1 is a perspective view of a moving robot 100

according to the present disclosure;

FIG. 2 is a front view of the moving robot 100 of FIG.

1;

J FIG. 3 is a right side view of the moving robot 100 shown

in FIG. 1;

FIG. 4 is a bottom view of the moving robot 100 shown in

FIG. 1;

FIG. 5 is a perspective view of a docking device for

docking the moving robot 100 shown in FIG. 1;

FIG. 6 is a front view of the docking device 200 shown

in FIG. 5;

FIG. 7 is a block diagram illustrating a control relation

of the moving robot 100 shown in FIG. 1;

FIG. 8 is a block diagram illustrating a control

relationship of a compensation processing module 193 of the

moving robot 100 shown in FIG. 7;

FIG. 9 is a conceptual diagram illustrating an example

of an inclined travel surface S and an example of a predetermined pattern route Tt and Ct aimed by the moving robot 100.

FIG. 10 is a plan conceptual diagram illustrating a

target movement direction Dt, an actual movement direction,

D and a heading direction Dh when the moving robot 100 moves

cross an upward inclination direction SH of the inclined

travel surface S, the diagram which compares the case 0 where

straight movement compensation is not performed and the case

Q where straight movement compensation is performed;

J FIG. 11 is a conceptual diagram of analysis of forces

applied to the moving robot 100 in the case Q where straight

movement compensation is performed in FIG. 10;

FIG. 12 is a plan conceptual diagram illustrating an

example in which the moving robot 100 moves along the pattern

route Tt and Ct shown in FIG. 9 in the case Q where straight

movement compensation is performed in FIG. 10;

FIG. 13 is a zoomed-in view of a portion El in FIG. 12,

which is a plan conceptual diagram illustrating a target

rotational route Ct, an actual rotational route Cr, and a

virtual rotational route Ch when the moving robot 100

rotationally moves on the inclined travel surface S, and which

is a diagram comparing the case 0 where rotational movement

compensation is not performed and the case Q where rotational

movement compensation is performed; and

FIG. 14 is an exemplary plan view of a travel surface

set by a wire 290, and a zoomed-in view of a portion E2, the

view which is a plan conceptual view illustrating a normal

direction converting route Kt, an actual direction converting

route Kr, and a virtual direction converting route Kh when

the moving robot 100 performs a direction converting motion

in proximity to the wire 290, and which is a diagram comparing

the case 0 where a special mode is deactivated and the case

Q where the special mode is activated.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The terms "forward (F)/rearward (R)/upward (U)/downward

(D)/indoor (I)/outdoor (0)" mentioned in the following

description are defined as shown in the drawings. However,

the terms are used merely to clearly understand the present

invention, and therefore the above-mentioned directions may

be differently defined.

The terms "first", "second" etc. are used to distinguish

elements, and not related to a sequence, importance levels,

or a master-servant relationship of elements. For example,

only a second element may be included without a first element.

Hereinafter, a moving robot is described as a lawn mower

100 with reference to FIGS. 1 to 6, but the present

disclosure is not necessarily limited thereto.

With reference to FIGS. 1 to 4, a moving robot 100

includes a body 110 that defines an exterior of the moving

robot 100. The body 110 forms an inner space. The moving

robot 100 includes a travelling unit 120 that moves the body

110 against a travel surface. The moving robot 100 includes

an operation unit 130 that performs a predetermined

operation.

The body 110 includes a frame 111 to which a driving

motor module 123, which will be described later, is fixed.

] A blade motor 132, which will be described later, is fixed

to the frame 111. The frame 111 supports a battery which

will be described later. The frame 111 provides a structure

which supports even other components which are not mentioned

herein. The frame 111 is supported by an auxiliary wheel

125 and a driving wheel 121.

The body 110 includes a lateral blocking part lila which

prevent a user's finger from entering a blade 131 from a

side of the blade 131. The lateral blocking part 111a is

fixed to the frame 111. The lateral blocking part 111a is

projected downward, compared to a button surface of an other

part of the frame 111. The lateral blocking part 111a is

arranged to cover an upper side of a space between the

driving wheel 121 and the auxiliary wheel 125.

A pair of lateral blocking parts lla-1 and llla-2 is

arranged on the left and right sides to the blade 131. The lateral blocking part 111a is spaced a predetermined distance apart from the blade 131.

A front surface llaf of the lateral blocking part lila

is formed in a round shape. The front surface 111af forms

a surface that is bent in a round manner upwardly in a

forward direction from a bottom surface of the lateral

blocking part 111a. By use of the shape of the front surface

111af, the lateral blocking parts 111a is able to easily go

over an obstacle of a predetermined height or lower

D thereunder when the moving robot 100 moves forward.

The body 110 includes a front blocking part 1llb which

prevents a user's finger from entering between the blade 131

from the front of the blade 131. The front blocking part

111b is fixed to the frame 111. The front blocking part

111b is arranged to partially cover an upper side of a space

between a pair of auxiliary wheels 125(L) and 125(R).

The front blocking part 1llb includes a projected rib

111ba which is projected downward compared to a bottom

surface of another part of the frame 111. The projected rib

111ba extends in a front-rear direction. An upper portion

of the projected rib 111ba is fixed to the frame 111, and a

lower portion of the projected rib 111ba forms a free end.

A plurality of projected ribs llba may be spaced apart

leftward and rightward from each other. The plurality of

projected ribs 111ba may be arranged in parallel to each other. A gap is formed between two adjacent projected ribs

111ba.

A front surface of the projected ribs 111ba is formed

in a round shape. The front surface of the projected rib

111ba forms a surface that is bent in a round manner upwardly

in a forward direction from a bottom surface of the projected

rib 111ba. By use of the shape of the front surface of the

projected rib 111ba, the projected rib 111ba is able to

easily go over an obstacle of a predetermined height or lower

D thereunder when the moving robot 100 moves forward.

The front blocking part 111b includes an auxiliary rib

111bb which reinforces rigidity. The auxiliary ribs 111bb

for reinforcing rigidity of the front blocking part 111b is

arranged between upper portions of two adjacent projected

ribs 111ba. The auxiliary rib 111bb may be projected

downward and may be in a lattice shape which extends.

In the frame 111, a caster which supports the auxiliary

wheel 125 rotatably is arranged. The caster is arranged

rotatable with respect to the frame 111. The caster is

disposed rotatable about a vertical axis. The caster is

disposed in a lower side of the frame 111. The caster is

provided as a pair of casters corresponding to the pair of

auxiliary wheels 125.

The body 110 includes a case 112 which covers the frame

111 from above. The case 112 defines a top surface and

front/rear/left/right surfaces of the moving robot 100.

The body 110 may include a case connection part (not

shown) which fixes the case 112 to the frame 111. An upper

portion of the case connection part may be fixed to the case

112. The case connection part may be arranged movable with

respect to the frame 111. The case connection part may be

arranged movable only upwardly and downwardly with the frame

] 111. The case connection part may be provided movable in a

predetermined range. The case connection part moves

integrally with the case 112. Accordingly, the case 112 is

movable with respect to the frame 111.

The body 110 includes a bumper 112b which is disposed

D at the front. The bumper 112b absorbs an impact upon

collision with an external obstacle. At a front surface of

the bumper 112b, a bumper groove recessed rearward and

elongated in a left-right direction may be formed. The

bumper groove may be provided as a plurality of bumper

grooves spaced apart from each other in an upward-downward

direction. A lower end of the projected rib lllba is

positioned lower than a lower end of the auxiliary rib 111bb.

The front surface and the left and right surfaces of

the bumper 112b are connected. The front surface and the left and right surfaces of the bumper 112b are connected in a round manner.

The body 110 may include an auxiliary bumper 112c which

is disposed embracing an exterior surface of the bumper 112b.

The auxiliary bumper 112c is coupled to the bumper 112b.

The auxiliary bumper 112c embraces lower portions of the

front, left, and right surfaces of the bumper 112b. The

auxiliary bumper 112c may cover the lower half portions of

the front, left, and right surfaces of the bumper 112b.

] The front surface of the auxiliary bumper 112c is

disposed ahead of the front surface of the bumper 112b. The

auxiliary bumper 112c forms a surface projected from a

surface of the bumper 112b.

The auxiliary bumper 112c may be formed of a material

which is advantageous in absorbing impact, such as rubber.

The auxiliary bumper 112c may be formed of a flexible

material.

The frame 111 may be provided with a movable fixing

part (not shown) to which the bumper 112b is fixed. The

movable fixing part may be projected upward of the frame

111. The bumper 112b may be fixed to an upper portion of

the movable fixing part.

The bumper 112b may be disposed movable in a

predetermined range with the frame 111. The bumper 112b may be fixed to the movable fixing part and thus movable integrally with the movable fixing part.

The movable fixing part may be disposed movable with

respect to the frame 111. The movable fixing part may be

rotatable about a virtual rotation axis in a predetermined

range with the frame 111. Accordingly, the bumper 112b may

be movable integrally with the movable fixing part with

respect to the frame 111.

The body 110 includes a handle 113. The handle 113 may

D be disposed at the rear of the case 112.

The body 110 includes a battery slot 114 which a battery

is able to be inserted into and separated from. The battery

slot 114 may be disposed at a bottom surface of the frame

111. The battery slot 114 may be disposed at the rear of

the frame 111.

The body 110 includes a power switch 115 to turn on/off

power of the moving robot 100. The power switch 115 may be

disposed at the bottom surface of the frame 111.

The body 110 includes a blade protector 116 which hides

the lower side of the central portion of the blade 131. The

blade protector 116 is provided to expose centrifugal

portions of blades of the blade 131 while hiding the central

portion of the blade 131.

The body 110 includes a first opening and closing door

117 which opens a portion in which a height adjuster 156 and a height indicator 157 are arranged. The first opening and closing door 117 is hinge-coupled to the case 112 to be opened and closed. The first opening and closing door 117 is arranged in a top surface of the case 112.

The first opening and closing door 117 is formed in a

plate shape, and, when closed, covers the top of the height

adjuster 156 and the height indicator.

The body 110 includes a second opening and closing door

118 which opens and closes a portion in which a display

D module 165 and an input unit 164 is arranged. The second

opening and closing door 118 is hinge-coupled to the case

112 to be opened and closed. The second opening and closing

door 118 is arranged in a top surface of the case 112. The

second opening and closing door 118 is disposed behind the

first opening and closing door 117.

The second opening and closing door 118 is formed in a

plate shape, and, when closed, covers the display module 165

and the input unit 164.

An available opening angle of the second opening and

closing door 118 is predetermined to be smaller than an

available opening angle of the first opening and closing

door 117. In doing this, even when the second opening and

closing door 118 is opened, a user is allowed to easily open

the first opening and closing door 117 and easily manipulate

the height adjuster 156. In addition, even when the second opening and closing door 118 is opened, the user is allowed to visually check content of the height display 157.

For example, the available opening angle of the first

opening and closing door 117 may be about 80 to 90 degrees

D with reference to the closed state of the first opening 117.

For example, the available opening angle of the second

opening and closing door 118 may be about 45 to 60 degrees

with reference to the closed state of the second opening and

closing door 118.

] A rear of the first opening and closing door 117 is

lifted upward from a front thereof to thereby open the first

opening and closing door 117, and a rear of the second

opening and closing door 118 is lifted upward from a front

thereof to thereby open the second opening and closing door

118. In doing so, even while the lawn mower 100 moves

forward, a user located in an area behind the lawn mower

100, which is a safe area, is able to open and close the

first opening and closing door 117 and the second opening

and closing door 118. In addition, in doing so, opening of

the first opening and closing door 117 and opening of the

second opening and closing door 118 may be prevented from

intervening each other.

The first opening and closing door 117 may be rotatable

with respect to the case 112 about a rotation axis which

extends from the front of the first opening and closing door

117 in a left-right direction. The second opening and

closing door 118 may be rotatable with respect to the case

112 about a rotation axis which extends from the front of

the second opening and closing door 118 in the left-right

direction.

The body 110 may include a first motor housing 119a

which accommodates a first driving motor 123(L), and a second

motor housing 119b which accommodates a second driving motor

123(R). The first motor housing 119a may be fixed to the

] left side of the frame 111, and the second motor housing

119b may be fixed to the right side of the frame 111. A

right end of the first motor housing 119a is fixed to the

frame 111. A left end of the second motor housing 119b is

fixed to the frame 111.

The first motor housing 119a is formed in a cylindrical

shape that defines a height in the left-right direction.

The second motor housing 119b is formed in a cylindrical

shape that defines a height in the left-right direction.

The traveling unit 120 includes the driving wheel 121

that rotates by a driving force generated by the driving

motor module 123. The traveling unit 120 may include at

least one pair of driving wheels 121 which rotate by a

driving force generated by the driving motor module 123.

The driving wheel 121 may include a first wheel 121(L) and

a second wheel 121(R), which are provided on the left and right sides and rotatable independently of each other. The first wheel 121(L) is arranged on the left side, and the second wheel 121(R) is arranged on the right side. The first wheel 121(L) and the second wheel 121(R) are spaced apart leftward and rightward from each other. The first wheel

121(L) and the second wheel 121(R) are arranged in a lower

side at the rear of the body 110.

The first wheel 121(L) and the second wheel 121(R) are

rotatable independently of each other so that the body 110

D is rotatable and forward movable relative to a ground

surface. For example, when the first wheel 121(L) and the

second wheel 121(R) rotate at the same speed, the body 110

is forward movable relative to the ground surface. For

example, when a rotation speed of the first wheel 121(L) is

faster than a rotation speed of the second wheel 121(R) or

when a rotation direction of the first wheel 121(L) and a

rotation direction of the second wheel 121(R) are different

from each other, the body 110 is rotatable against the ground

surface.

The first wheel 121(L) and the second wheel 121(R) may

be formed to be greater than the auxiliary wheel 125. A

shaft of the first driving motor 123(L) may be fixed to the

center of the first wheel 121(L), and a shaft of the second

driving motor 123 (R) may be fixed to the center of the second

wheel 121(R).

The driving wheel 121 includes a wheel circumference

part 121b which contacts the ground surface. For example,

the wheel circumference part 121b may be a tire. In the

wheel circumference part 121b, a plurality of projections

for increasing a frictional force with the ground surface

may be formed.

The driving wheel 121 may include a wheel fame (not

shown), which fixes the wheel circumference part 121b and

receives a driving force for the motor 123. A shaft of the

] motor 123 is fixed to the center of the wheel frame to

receive a rotation force. The wheel circumference part 121b

is arranged surrounding a circumference of the wheel frame.

The driving wheel 121 includes a wheel cover 121a which

covers an exterior surface of the wheel frame. With

reference to the wheel frame, the wheel cover 121a is

arranged in a direction opposite to a direction in which the

motor 123 is arranged. The wheel cover 121a is arranged at

the center of the wheel circumference part 121b.

The traveling unit 120 includes the driving motor

module 123 which generates a driving force. The traveling

unit 120 includes the driving motor module 123 which provides

a driving force for the driving wheel 121. The driving motor

module 123 includes the first driving motor 123(L) which

provides a driving force for the first wheel 121(L), and the

second driving motor 123(R) which provides a driving force for the second wheel 121 (R) . The first driving motor 123 (L) and the second driving motor 123(R) may be spaced apart leftward and rightward from each other. The first driving motor 123(L) may be disposed on the left side of the second driving motor 123(R)

The first driving motor 123(L) and the second driving

motor 123(R) may be arranged at a lower side of the body

110. The first driving motor 123(L) and the second driving

motor 123(R) may be arranged at the rear of the body 110.

D The first driving motor 123(L) may be arranged on the

right side of the first wheel 121(L), and the second driving

motor 123 (R) is arranged on the left side of the second wheel

121(R). The first driving motor 123(L) and the second

driving motor 123(R) are fixed to the body 110.

The first driving motor 123(L) may be arranged inside

the first motor housing 119a, with a motor shaft being

projected leftward. The second driving motor 123(R) may be

arranged inside the second motor housing 119b, with a motor

shaft being projected rightward.

In this embodiment, the first wheel 121(L) and the

second wheel 121(R) may be connected to a rotation shaft of

the first driving motor 123(L) and a rotation shaft of the

second driving motor 123(R), respectively. Alternatively,

a component of a shaft or the like may be connected to the

first wheel 121(L) and the second wheel 121(R).

Alternatively, a rotation force of the motor 123 (L) or 123 (R)

may be transferred to the wheel 121a or 121b by a gear or a

chain.

The traveling unit 120 may include the auxiliary wheel

135 which supports the body 110 together with the driving

wheel 121. The auxiliary wheel 125 may be disposed ahead of

the blade 131. The auxiliary wheel 125 is a wheel which

does not receives a driving force generated by a motor, and

the auxiliary wheel 125 auxiliarily supports the body 110

J against the ground surface. The caster supporting a rotation

shaft of the auxiliary wheel 125 is coupled to the frame 111

to be rotatable about a vertical axis. There may be provided

a first auxiliary wheel 125(L) arranged on the left side,

and a second auxiliary wheel 125(R) arranged on the right

D side.

The operation unit 130 is provided to perform a

predetermined operation. The operation unit 120 is arranged

at the body 110.

In one example, the operation unit 130 may be provided

to perform an operation such as cleaning or lawn mowing. In

another example, the operation unit 130 may be provided to

perform an operation such as transferring an object or

finding an object. In yet another embodiment, the operation

unit 130 may perform a security function such as sensing an

intruder or a dangerous situation in the surroundings.

In this embodiment, the operation unit 130 is described

as moving lawn, but there may be various types of operation

performed by the operation unit 120 and not limited to this

embodiment.

D The operation unit 130 may include the blade 131 which

are rotatably provided to mow lawn. The operation unit 130

may include a blade motor 132 which provides a rotation force

for the blade 131.

The blade 131 is arranged between the driving wheel 121

] and the auxiliary wheel 125. The blade 131 is arranged on

a lower side of the body 110. The blade 131 is exposed from

the lower side of the body 110. The blade 131 mows lawn by

rotating about a rotation shaft which extends in an upward

downward direction.

D A blade motor 132 may be arranged ahead of the first

wheel 121(L) and the second wheel 121(R). The blade motor

132 is disposed in a lower side of the center in the inner

space of the body 110.

The blade motor 132 may be disposed at the rear of the

auxiliary wheel 125. The blade motor 132 may be arranged in

a lower side of the body 110. A rotational force of the

motor axis is transferred to the blade 131 using a structure

such as a gear.

The moving robot 100 includes a battery (not shown)

which provides power for the driving motor module 123. The battery provides power to the first driving motor 123(L).

The battery provides power for the second driving motor

123(R). The battery may provide power for the blade motor

132. The battery may provide power for a controller 190, an

D azimuth angle sensor 176, and an output unit 165. The

battery may be arranged in a lower side of the rear in the

indoor space of the body 110.

The moving robot 100 is able to change a height of the

blade 131 from the ground, and change a lawn cutting height.

] The moving robot 100 includes the height adjuster 156 by

which a user is able to change a height of the blade 131.

The height adjuster 156 may include a rotatable dial and may

change the height of the blade 131 by rotating the dial.

The moving robot 100 includes the height indicator 157

which displays a degree of the height of the blade 131. When

the height of the blade 131 is changed upon manipulation of

the height adjuster 156, the height displayed by the height

display 157 is also changed. For example, the height display

157 may display a height value of grass that is expected

after the moving robot 100 mows lawn with the current height

of the blade 131.

The moving robot 100 includes a docking insertion part

158 which is connected to a docking device 200 when the

moving robot 100 is docked to the docking device 200. The

docking insertion part 158 is recessed such that a docking connection part 210 of the docking device 200 is inserted into the docking insertion part 158. The docking insertion part 158 is arranged in the front surface of the body 110.

Due to connection of the docking insertion part 158 and the

docking connection part 210, the moving robot 100 may be

guided to a correct position upon a need of charge.

The moving robot 100 may include a charging counterpart

terminal 159 which is disposed at a position to be in contact

with a charging terminal 211, which will be described later,

D when the docking connection part 210 is inserted into the

docking insertion part 158. The charging counterpart

terminal 159 includes a pair of charging counterpart

terminals which are disposed at positions corresponding to

a pair of charging terminals 211a and 211b. The pair of

charging counterpart terminals 159a and 159b may be disposed

on the left and right sides of the docking insertion part

158.

A terminal cover (not shown) for openably/closably

covering the pair of charging terminals 211a and 211b may be

provided. While the moving robot 100 travels, the terminal

cover may cover the docking insertion part 158 and the pair

of charging terminals 211a and 211b. When the moving robot

100 is connected with the docking device 200, the terminal

cover may be opened, and therefore, the docking insertion part 158 and the pair of charging terminals 211a and 211b may be exposed.

Meanwhile, referring to FIGS. 5 to 6, the docking device

200 includes a docking base 230 disposed at a floor, and a

docking support 220 projected upwardly from the front of the

docking base 230. The docking device 200 includes the

docking connection part 210 which is inserted into the

docking insertion part 158 to charge the moving robot 100.

The docking connection part 210 may be projected rearward of

D the docking support 220.

The docking connection part 210 may be formed to have

a vertical thickness smaller than a horizontal thickness. A

horizontal width of the docking connection part 210 may be

narrowed toward the rear. As viewed from above, the docking

D connection part 210 is broadly in a trapezoidal shape. The

docking connection part 210 is vertically symmetrical. The

rear of the docking connection part 210 forms a free end,

and the front of the docking connection part 210 is fixed to

the docking support 220. The rear of the docking connection

part 210 may be formed in a round shape.

When the docking connection part 210 is fully inserted

into the docking insertion part 158, charging of the moving

robot 100 by the docking deice 200 may be performed.

The docking device 200 includes the charging terminal

211 to charge the moving robot 100. As the charging terminal

211 and the charging counterpart terminal 159 of the moving

robot 100 are brought into contact with each other, charging

power may be supplied from the docking device 200 to the

moving robot 100.

The charging terminal 211 includes a contact surface

facing rearward, and the charging counterpart terminal 159

includes a contact counterpart surface facing forward. As

the contact surface of the charging terminal 211 is brought

into contact with the contact counterpart surface of the

] charging counterpart terminal 159, power of the docking

device 200 is connected with the moving robot 100.

The charging terminal 211 may include a pair of charging

terminals 211a and 211b which form a positive polarity (+)

and a negative polarity (-), respectively. The first

charging terminal 211a is provided to come into contact with

the first charging counterpart terminal 159a, and the second

charging terminal 211b is provided to come into contact with

the second charging counterpart terminal 159b.

The pair of charging terminals 211a and 211b may be

arranged with the docking connection part 210 therebetween.

The pair of charging terminals 211a and 211b may be arranged

on the left and right sides of the docking connection part

210.

The docking base 230 includes a wheel guard 232 on which

the driving wheel 121 and the auxiliary wheel 125 of the moving robot 100 are to be positioned. The wheel guard 232 includes a first wheel guard 232a which guides movement of the first auxiliary wheel 125 (L), and a second wheel guard

232b which guides movement of the second auxiliary wheel

125(R). Between the first wheel guard 232a and the second

wheel guard 232b, there is a central base 231 which is convex

upwardly. The docking base 230 includes a slip prevention

part 234 to prevent slipping of the first wheel 121(L) and

the second wheel 121(R). The slip prevention part 234 may

D include a plurality of projections which are projected

upwardly.

Meanwhile, a wire 290 for setting a border of a travel

area of the moving root 100 may be provided. The wire 290

may generate a predetermined border signal. By detecting

the border signal, the moving robot 100 is able to recognize

the border of the travel area set by the wire 290.

For example, as a predetermined current is allowed to

flow along the wire 290, a magnetic field may be generated

around the wire 290. The generated magnetic field is the

aforementioned border signal. As an alternating current

with a predetermined pattern of change are allowed to flow

in the wire 290, a magnetic field generated around the wire

290 may change in the predetermined pattern of change. Using

a border signal detector 177 for detecting a magnetic field,

the moving robot 100 may recognize that the moving robot 100 has approached the wire 290 within a predetermined distance, and accordingly, the moving robot 100 may travel only in a travel area within a border set by the wire 290.

The docking unit 200 may play a role of transferring a

predetermined current to the wire 290. The docking device

200 may include a wire terminal 250 connected to the wire

290. Both ends of the wire 290 may be connected to a first

wire terminal 250a and a second wire terminal 250b. Through

the connection between the wire 290 and the wire terminal

D 250, a power supply of the docking device 200 may supply a

current to the wire 290.

The wire terminal 250 may be disposed at the front (F)

of the docking device 200. That is, the wire terminal 250

may be disposed at a position opposite to a direction in

which the docking connection part 210 is projected. The

wire terminal 250 may be disposed in the docking support

220. The first wire terminal 250a and the second wire

terminal 250b may be spaced apart leftward and rightward

from each other.

The docking device 200 may include a wire terminal

opening and closing door 240 which openably/closably covers

the wire terminal 250. The wire terminal opening and closing

door 240 may be disposed at the front (F) of the docking

support 220. The wire terminal opening and closing door 240 may be hinge-coupled to the docking support 220 to be opened and closed by rotation.

Meanwhile, referring to FIG. 7, the moving robot 100

may include the input unit 164 through which various

instructions from a user is allowed to be input. The input

unit 164 may include a button, a dial, a touch-type display,

etc. The input unit 164 may include a microphone to

recognize a voice. In this embodiment, a plurality of

buttons is arranged in an upper side of the case 112.

] The moving robot 100 may include the output unit 165 to

output various types of information to a user. The output

unit 165 may include a display module which displays visual

information. The output unit 165 may include a speaker (not

shown) which outputs audible information.

In this embodiment, the display module 165 outputs an

image in an upward direction. The display module 165 is

arranged in the upper side of the case 112. In one example,

the display module 165 may include a thin film transistor

Liquid-Crystal Display (LCD). In addition, the display

module 165 may be implemented using various display panels

such as a plasma display panel, an organic light emitting

diode display panel, etc.

The moving robot 100 includes a storage 166 which stores

various types of information. The storage 166 stores various

types of information necessary to control the moving robot

100, and the storage 166 may include a volatile or non

volatile recording medium. The storage 166 may store

information input through the input unit 164 or information

received through a communication unit 167. The storage 166

D may store a program required to control the moving robot

100.

The moving robot 100 may include the communication unit

167 to communicate with an external device (a terminal and

the like), a server, a router, etc. For example, the

] communication unit 167 may be capable of performing wireless

communication with a wireless communication technology such

as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee,

Z-wave, Blue-Tooth, etc. The communication unit 167 may

differ depending on a target device to communication or a

D communication method of a server.

The moving robot 100 includes a sensing unit 170 which

senses a state of the moving robot 100 or information

relating to an environment external to the moving robot 100.

The sensing unit 170 may include at least one of a remote

signal detector 171, an obstacle detector 172, a rain

detector 173, a case movement sensor 174, a bumper sensor

175, an azimuth angle sensor 176, a border signal detector

177, a Global Positioning System (GPS) detector 178, or a

cliff detector 179.

The remote signal detector 171 receives an external

remote signal. Once a remote signal from an external remote

controller is transmitted, the remote signal detector 171

may receive the remote signal. For example, the remote

D signal may be an infrared signal. The signal received by

the remote signal detector 171 may be processed by a

controller 190.

A plurality of remote signal detectors 171 may be

provided. The plurality of remote signal detectors 171 may

D include a first remote signal detector 171a disposed at the

front of the body 110, and a second remote signal detector

171b disposed at the rear of the body 110. The first remote

signal detector 171a receives a remote signal transmitted

from the front. The second remote signal detector 171b

receives a remote signal transmitted from the rear.

The obstacle detector 172 senses an obstacle around the

moving robot 100. The obstacle detector 172 may sense an

obstacle in the front. A plurality of obstacle detectors

172a, 172b, and 172c may be provided. The obstacle detector

172 is disposed at a front surface of the body 110. The

obstacle detector 172 is disposed higher than the frame 111.

The obstacle detector 172 may include an infrared sensor, an

ultrasonic sensor, a Radio Frequency (RF) sensor, a

geomagnetic sensor, a Position Sensitive Device (PSD)

sensor, etc.

The rain detector 173 senses rain when it rains in an

environment where the moving robot 100 is placed. The rain

detector 173 may be disposed in the case 112.

The case movement sensor 174 senses movement of the

D case connection part. If the case 112 is lifted upward from

the frame 111, the case connection part moves upward and

accordingly the case movement sensor 174 senses the lifted

state of the case 112. If the case movement sensor 174

senses the lifted state of the case 112, the controller 190

D may perform a control action to stop operation of the blade

131. For example, if a user lifts the case 112 or if a

considerable-sized obstacle underneath lifts the case 112,

the case movement sensor 174 may sense the lift.

The bumper sensor 175 may sense rotation of the movable

fixing part. For example, a magnet may be disposed in one

side of the bottom of the movable fixing part, and a sensor

for sensing a change in a magnetic field of the magnet may

be disposed in the frame. When the movable fixing part

rotates, the bumper sensor 175 senses a change in the

magnetic field of the magnet. Thus, the bumper sensor 175

capable of sensing rotation of the movable fixing part may

be implemented. When the bumper 112b collides with an

external obstacle, the movable fixing part rotates

integrally with the bumper 112b. As the bumper sensor 175 senses the rotation of the movable fixing part, the bumper sensor 175 may sense the collision of the bumper 112b.

The sensing unit 170 includes a tilt information

acquisition unit 180 which acquires tilt information on a

D tilt of a traveling surface (S). By sensing a tilt of the

body 110, the tilt information acquisition unit 180 may

acquire the tilt information on inclination of the traveling

surface (S) on which the body 110 is placed. In one example,

the tilt information acquisition unit 180 may include a gyro

D sensing module 176a. The tilt information acquisition unit

180 may include a processing module (not shown) which

converts a sensing signal from the gyro sensing module 176a

into the tilt information. The processing module may be

implemented as an algorithm or a program which is part of

the controller 190. In another example, the tilt information

acquisition unit 180 may include a magnetic field sensing

module 176c, and acquire the tilt information based on

sensing information about the magnetic field of the Earth.

The gyro sensing module 176a may acquire information on

a rotational angular speed of the body 110 relative to the

horizontal plane. Specifically, the gyro sensing module 176a

may sense a rotational angular speed which is parallel to

the horizontal plane about the X and Y axes orthogonal to

each other. By merging a rotational angular speed (roll)

about the X axis and a rotational angular speed (pitch) about the Y axis with the processing module, it is possible to calculate a rotational angular speed relative to the horizontal plane. By integrating the rotational angular speed relative to the horizontal plane, it is possible

D calculate a tilt value.

The gyro sensing module 176a may sense a predetermined

reference direction. The tilt information acquisition unit

180 may acquire the tilt information based on the reference

direction.

] The azimuth angle sensor (AHRS) 176 may have a gyro

sensing function. The azimuth angle sensor 176 may further

include an acceleration sensing function. The azimuth angle

sensor 176 may further include a magnetic field sensing

function.

The azimuth angle sensor 176 may include a gyro sensing

module 176a which performs gyro sensing. The gyro sensing

module 176a may sense a horizontal rotational speed of the

body 110. The gyro sensing module 176a may sense a tilting

speed of the body 110 relative to a horizontal plane.

The gyro sensing module 176a may include a gyro sensing

function regarding three axes orthogonal to each other in a

spatial coordinate system. Information collected by the

gyro sensing module 176a may be roll, pitch, and yaw

information. The processing module may calculate a direction angle of a cleaner 1 or 1' by integrating the roll, pitch, and yaw angular speeds.

The azimuth angle sensor 176 may include an

acceleration sensing module 176b which senses acceleration.

The acceleration sensing module 176b has an acceleration

sensing function regarding three axes orthogonal to each

other in a spatial coordinate system. A predetermined

processing module calculates a speed by integrating the

acceleration, and may calculate a movement distance by

D integrating the speed.

The azimuth angle sensor 176 may include a magnetic

field sensing module 176c which performs magnetic field

sensing. The magnetic sensing module 176c may have a

magnetic field sensing function regarding three axes

D orthogonal to each other in a spatial coordinate system.

The magnetic field sensing module 176c may sense the magnetic

field of the Earth.

The border signal detector 177 detects the border

signal of the wire 290 outside the moving robot 100. The

border signal detector 177 may be disposed at the front of

the body 110. In doing so, while the moving robot 100 moves

in a forward direction which is the primary travel direction,

it is possible to sense the border of the travel area in

advance. The border signal detector 177 may be disposed in

an inner space of the bumper 112b.

The border signal detector 177 may include a first

border signal detector 177a and a second border signal

detector 177b which are arranged leftward and rightward from

each other. The first border signal detector 177a and the

D second border signal detector 177b may be disposed at the

front of the body 110.

When the border signal is a magnetic field signal, the

border signal detector 177 includes a magnetic field sensor.

The border signal detector 177 may be implemented using a

D coil to detect a change in a magnetic field. The border

signal detector 177 may sense at least a magnetic field of

an upward-downward direction. The border signal detector

177 may sense a magnetic field on three axes which are

spatially orthogonal to each other.

D The GPS detector 178 may be provided to detect a GPS

signal. The GPS detector 178 may be implemented using a

Printed Circuit Board (PCB).

The cliff detector 179 detects presence of a cliff in

a travel surface. The cliff detector 179 may be disposed at

the front of the body 110 to detect presence of a cliff in

the front of the moving robot 100.

The sensing unit 170 may include an opening/closing

detector (not shown) which detects opening/closing of at

least one of the first opening and closing door 117 or the second opening and closing door 118. The opening/closing detector may be disposed at the case 112.

The moving robot 100 includes the controller 190 which

controls autonomous traveling. The controller 190 may

D process a signal from the sensing unit 170. The controller

190 may process a signal from the input unit 164.

The controller 190 may control the first driving motor

123(L) and the second driving motor 123(R). The controller

190 may control driving of the blade motor 132. The

] controller 190 may control outputting of the output unit

165.

The controller 190 includes a main board (not shown)

which is disposed in the inner space of the body 110. The

main board means a PCB.

D The controller 190 may control autonomous traveling of

the moving robot 100. The controller 190 may control driving

of the traveling unit 120 based on a signal received from

the input unit 164. The controller 190 may control driving

of the traveling unit 120 based on a signal received from

the sensing unit 170.

Hereinafter, controlling travel of the moving robot 100

will be described in detail with reference to FIGS. 8 to 14.

The tilt information may include information on a tilt

value Ag. The tilt value Ag may be determined to be a value relating to a degree of tilting of the traveling surface (S) relative to a virtual horizontal plane.

The tilt information may include information on a tilt

direction. Throughout this specification, the tilt

direction may be a direction corresponding to an upward

inclination direction of the traveling surface (S).

Referring to FIG. 8, the moving robot 100 may implement

a predetermined inclination mode. The controller 190 may

determine whether to activate (on/off) the predetermined

D inclination mode. The controller 190 may determine whether

a predetermined inclination mode condition is satisfied,

based on the acquired tilt information. When it is

determined that the inclination mode condition is satisfied,

the controller 190 activates the inclination mode.

For example, the controller 190 may preset an

inclination mode determination algorithm 191 so as to

determine whether to activate the inclination mode. The

tilt information acquisition unit 180 may transmit a sensed

signal to the inclination mode determination algorithm 191.

The inclination mode determination algorithm 191 may be

preset to determine whether a predetermined inclination mode

condition is satisfied based on tilt information.

For example, whether the inclination mode condition is

satisfied may be preset to be determined by comparing a tilt value Ag corresponding to the acquired tilt information with a predetermined reference value.

For example, the inclination mode condition may be

preset to be satisfied when a tilt value Ag corresponding to

D tilt information acquired at a current position exceeds a

predetermined reference value. The inclination mode

condition may be predetermined to be a condition in which

the tilt value Ag is greater than the predetermined reference

level, or a condition in which the tilt value Ag is equal to

D or greater than the predetermined reference value. In any

of the two conditions, the inclination mode condition is

satisfied when the tilt value Ag exceeds the predetermined

reference value.

In another example, the inclination mode condition may

be preset to be satisfied when a tilt value Ag corresponding

to tilt information exceeds a predetermined reference value

for a predetermined period of time or more while the body

110 moves. The inclination mode condition may be preset to

be a condition in which the tilt value Ag is greater than

the predetermined reference value for the predetermined

period of time or more, or a condition in which the tilt

value Ag is equal to or greater than the predetermined

reference value for the predetermined period of time or more.

In any of the two conditions, the inclination mode condition

is satisfied when the tilt value Ag exceeds the predetermined reference value for the predetermined period of time or more.

In doing so, in the case where a tilt value increases in a

relatively short period of time due to vibration or a local

surface curve during traveling of the moving robot, the

inclination mode remains deactivated, thereby reducing a

probability that the inclination mode is unnecessarily

activated.

When it is determined that the inclination mode

condition is satisfied, the inclination mode determination

] algorithm 191 transmits a predetermined determination signal

to a compensation processing module 193. The compensation

processing module 193 may receive the tilt information

directly from the tilt information acquisition unit 180 or

through the inclination mode determination algorithm 191.

The compensation processing module 193 may perform a

compensation control based on the acquired tilt information.

The tilt information may include information on a tilt

direction. The tilt direction means a downward direction of

a tilt.

When the traveling surface S has an inclination equal

to or greater than a predetermined reference inclination,

the compensation processing module 193 may perform a

predetermined compensation control (straight movement

compensation, rotational movement compensation) to match an

actual route Tr and Cr with a target route Tt and Ct as much as possible. When the moving robot 100 moves on a horizontal traveling surface S, the compensation processing module 193 does not perform the compensation control and the target route Tt and Ct and the actual route Tr and Cr match with

D each other. However, unless the compensation module 192

performs the compensation control when the moving robot 100

travels on a traveling surface S having an inclination equal

to or greater than the predetermined reference inclination,

it is not possible to offset slipping of the moving robot

] 100 in a downward inclination direction SL of the travel

surface S and there may be a considerable difference between

the target route Tt and Ct and the actual route Tr and Cr.

In this case, when the traveling surface S has an

inclination equal to or greater than the predetermined

level, the inclination mode condition is satisfied and thus

the inclination mode is activated. Once the activation mode

is activated, the compensation processing module 193

performs the compensation control.

The compensation processing module 193 may include a

straight movement compensation module 193a which performs a

predetermined straight movement compensation control in

order to match an actual straight route Tr with a target

straight route Tt as much as possible when the traveling

surface S has an inclination equal to or greater than the

predetermined level.

The compensation processing module 193 may include a

rotational movement compensation module 193b which performs

a predetermined rotational movement compensation control in

order to match an actual rotational route Cr with a target

rotational route Ct at the maximum when the traveling surface

S has an inclination equal to or greater than the

predetermined level.

The compensation processing module 193 may include a

special mode control module 193c which activates a special

D mode of a direction converting motion, which will be

described later, when the traveling surface S has an

inclination equal to or greater than the predetermined

level. When the special mode of the direction converting

motion is activated, the special mode control module 193c

may control the travelling unit 120 to be driven in a second

driving method that is different from a first driving method

which is implemented when the direction converting motion is

performed while the special mode is deactivated.

Meanwhile, the moving robot 100 may acquire

predetermined navigation information NI. The navigation

information NI is information about an error between a target

route and an actual route. For example, in the case where

the moving robot 100 has returned back to the docking device

200 after travelling, if there is no such an error, a sum of

displacement recognized by the moving robot 100 should be 0, theoretically. However, if there is a difference between the target route and the actual route, the difference may be recognized as the error. As the navigation information NI about such an error is input to the compensation processing module 193, the compensation processing module 193 is capable of learning by itself. For example, a coefficient which determines a degree of compensation by the compensation processing module 193 may be preset to change based on the input navigation information NI.

] Referring to FIGS. 9 and 12, the moving robot 100 may

travel according to a pattern travelling mode. A

predetermined pattern travelling mode is preset to move the

body 110 along a predetermined pattern route Tt and Ct. The

pattern travelling mode include a predetermined algorithm

for driving at least the traveling unit 120 The pattern

travelling mode may include an algorithm for driving the

traveling unit 120 in accordance with a signal sensed by the

sensing unit 170.

In one example, the moving robot 100 moving according

to the pattern travelling mode may move in a travel area in

a zigzag fashion by repeatedly performing the following

steps: moving straight forward, making a 1800 turn, and then

moving along a straight route which is spaced apart in

parallel from a previous straight route.

In another example, the moving robot 100 moving

according to the pattern traveling mode may move in the

travel area in a zigzag fashion by repeatedly performing the

following steps: moving straight forward to a border of a

D travel area, making a 1800 turn in response to a signal

sensed by the border signal detector 177, and then moving

along a straight route which is spaced apart in parallel

from a previous straight route. In this case, each target

straight route Tt of the pattern route Tt and Ct may have a

D different length depending on a border of an area.

In addition, there may be a pattern travelling mode for

moving the body 110 along various pattern routes.

In this embodiment, the moving robot 100 is a lawn mower

robot. The lawn mower robot moves according to the pattern

D traveling mode while rotating the blade 131, thereby

thoroughly cutting grass in a travel area.

The pattern route Tt and Ct is preset irrespective of

an inclination of the traveling surface S. That is, the

pattern route Tt and Ct is an abstract target route preset

by an algorithm of the pattern travelling mode. When the

moving robot 100 travels on a horizontal travel surface S

according to the pattern traveling mode, the actual route Tr

and Cr becomes the pattern route Tt and Ct. The controller

190 may perform the compensation control with reference to

the pattern route Tt and Ct.

The target straight route Tt is preset irrespective of

inclination of the traveling surface S. The pattern route

Tt and Ct may include a predetermined target straight route

Tt. The pattern route Tt and Ct includes a plurality of

D target straight routes Tt spaced apart in parallel from each

other.

At a certain point in time when the predetermined target

straight route Tt preset irrespective of the inclination of

the traveling surface S is given, a target movement direction

] Dt is a direction in which the target straight route Tt

extends. For example, FIG. 10 shows an example of a certain

point in time when the target straight route Tt of the moving

robot 100is given, and, in this case, the target movement

direction Dt is a direction in which the target straight

route Tt extends.

The target rotational route Ct is preset irrespective

of the inclination of the traveling surface S. The pattern

route Tt and Ct includes a predetermined target rotational

route Ct. The target rotation curve Ct may be a route that

connects two adjacent target straight routes Tt. The target

rotational route Ct may be a route which rotates a movement

direction of the moving robot 100 by 1800 degree such that

the moving robot 100 moves in a curved manner (curve

movement).

Referring to FIG. 14, the moving robot 100 may perform

a predetermined direction converting motion. The direction

converting motion is a motion of changing a movement

direction of the moving robot 100.

While the moving robot 100 moves, the controller 190

may determine whether a predetermined motion start condition

is satisfied, based on a border signal sensed by the border

signal detector 177. When the motion start condition is

satisfied, the controller 190 may control the traveling unit

D 120 to start the direction converting motion.

The motion start condition may be preset to be satisfied

when the border signal detector 177 has approached the wire

290 within a predetermined distance. For example, the motion

start condition may be preset to be satisfied when strength

D of a border signal(e.g., strength of a magnetic field) sensed

by the border signal detector 177 is equal to or greater

than a predetermined level.

After the moving robot 100 starts the direction

converting motion, the controller 190 may determine, based

on the border signal, whether a predetermined motion

termination condition is satisfied. When the motion

termination condition is satisfied after the start of the

direction converting motion, the controller 190 may control

the traveling unit 120 to terminate the direction converting

motion.

The motion termination condition may be preset to be

satisfied when the border signal detector 177, which has

moved away from the wire 290 after the start of the direction

converting motion, approaches the wire 290 again within the

predetermined distance. For example, the motion termination

condition may be preset to be satisfied when strength of a

border signal (e.g., strength of a magnetic field) sensed by

the border signal detector 177 is equal to or greater than

a predetermined level.

] The border signal detector 177 may be disposed at the

front of the body 110. In addition, a pair of border signal

detectors 177a and 177b spaced apart leftward and rightward

from each other at the front of the body 110 may be provided.

A movement direction of the front of the body 110 at

the start of the direction converting motion may be preset

to be a direction in which the front of the body 110 moves

away from the wire 190. For example, a direction in which

one border signal detector having sensed a greater magnetic

field strength out of the pair of border signal detectors

177a and 177b disposed leftward and rightward from each other

at the front of the body 110 is a direction closer than a

direction in which the other border signal detector is

disposed. Accordingly, the controller 190 may control the

moving robot 100 to rotationally move toward a direction

opposite to a direction in which one border signal detector having sensed the greater magnetic field strength out of the pair of border signal detectors 177a ad 177b is disposed.

If the front of the body 110 moves out of the border of a

travel area set by the wire 290, there is a higher

probability that a facility or a human out of the border or

the moving robot 100 itself is damaged. Using the above

described direction converting motion, it is possible to

considerably reduce such a likelihood.

In the example of FIG. 14, when the front end of the

] moving robot 100 is located at a motion start point pk, the

motion start condition is satisfied. The second border

signal detector 177b located closer to the wire 290 out of

the first border signal detector 177a and the second border

signal detector 177b senses a greater magnetic field

D strength. Accordingly, a direction converting motion of the

moving robot 100 starts with movement (left-turn motion)

rotating in a left direction which is a direction opposite

to a direction in which the second border signal detector

177b out of the first border signal detector 177a and the

second border signal detector 177b is disposed.

In the example of FIG. 14, if the traveling surface S

is a horizontal plane, a special mode may be deactivated and

thus the moving robot 100 may carry out the direction

converting motion while moving along a normal direction

converting route Kt and terminates the direction converting motion at a motion end point Pe where the motion termination condition is satisfied. For example, a magnetic field strength sensed by the first border signal detector 177a at the motion end point Pe may be equal to or greater than a predetermined level, and thus, the motion termination condition may be satisfied.

Referring to FIGS. 9 to 12, the straight movement

compensation control will be described with reference to

FIGS. 9 to 12. Through the straight movement compensation

] control, it is possible to compensate for slipping of the

moving robot 100 in a downward inclination direction of the

travel surface S when the moving robot 100 moves to cross an

upward inclination direction SH of the travel surface S.

The target movement direction Dt is preset irrespective

D of the inclination of the travel surface S. While the target

movement direction Dt is preset, the controller 190 performs

the straight movement compensation control. For example,

the target movement direction Dt is an abstract movement

direction preset by an algorithm of the pattern travelling

mode. A target movement direction Dt of the moving robot

100 at a current point in time is a constant reference

direction that is irrespective of inclination of the travel

surface S, on which the moving robot 100 is placed at the

current point in time, or a degree of the inclination of the

travel surface S.

An actual movement direction Dr is a direction in which

the moving robot 100 is actually moving. The actual movement

direction Dr is a direction along which the moving robot 100

is found to move through observation. On the horizontal

D travel surface S, the actual movement direction Dr of the

moving robot 100 becomes the target movement direction Dt.

The controller 190 may perform the straight movement

compensation control with reference to the target movement

direction Dt. If the controller 190 performs the straight

] movement compensation control while the moving robot 100

crosses the travel surface S, the actual movement direction

Dr becomes close to the target movement direction Dr.

A heading direction Dh is a direction in which the body

110 moves by the traveling unit 120 on the assumption that

the travel surface S is horizontal. In this case, since the

travel surface S is assumed horizontal, an actual movement

direction on the travel surface S may be different from the

heading direction Dh. That is, if the travel surface S is

horizontal even though the travel surface S on which the

moving robot 100 is placed at the current point in time has

an inclination, a direction in which the moving robot 100 is

going to move is the heading direction Dh.

The heading direction Dh is a direction of a travelling

force Fh that the travelling unit 120 is preset to apply to

the body 110. In this embodiment, the travelling force Fh is a force that is applied to the body 110 by rotation of the driving wheel 121. The heading direction Dh is a direction of the travelling force Fh that is applied to the body 110 by rotation of the pair of driving wheels 121(L)

D and 121 (R). The driving force Fh is a force that is applied

in a direction opposite to a direction of a frictional force

which is applied to the travel surface S by the driving wheel

121 by rotation of the driving wheel 121.

When the target movement direction Dt crosses the

] upward inclination direction SH of the travel surface S, the

controller 190 controls the travelling unit 120 by setting

the heading direction Dh based on the tilt information. When

the target movement direction Dt crosses the upward

inclination direction SH of the travel surface S, the

D controller 190 controls the heading direction Dh to be a

direction between the target movement direction Dt from a

current position and the upward inclination direction SH of

the travel surface S from the current position based on the

tilt information.

A compensation angle Ac is an angle between the heading

direction Dh and the target movement direction Dt. The

controller 190 may calculate the compensation angle Ac based

on acquired tilt information. The controller 190 may set

the heading direction Dh to be a direction which is rotated

from the target movement direction at the current position toward the upward inclination direction SH by the compensation angle Ac. The controller 190 may control the travelling unit 120 so as to generate a travelling force Fh in the set heading direction Dh.

When the acquired tilt information changes, the

controller 1990 may set the heading direction Dh

differently. When the acquired tilt information changes,

the controller 190 may perform a control action to change

the compensation angle Ac.

] The controller 190 may perform a control action such

that the compensation angle Ac increases in proportion to a

tilt value corresponding to the tilt information. In

addition, the controller 190 may control the target movement

direction Dt such that the compensation angle Ac increases

in proportion to proximity to a direction vertical to a

tilting direction corresponding to the tilt information. In

a condition in which an angle between the target movement

direction Dt and the tilt direction is constant when viewed

above, the controller 190 may perform a control action such

that the compensation angle Ac increases in proportion to

the tilt value.

The target straight route Tt is an abstract target route

preset by a predetermined algorithm. The target straight

route Tt may be preset irrespective of inclination of the

travel surface S. A target straight route Tt of the moving robot 100 at the current point in time is a constant reference route that is irrespective of inclination of the travel surface S, on which the moving robot 100 is placed at the current point in time, or a degree of the inclination.

D The actual straight route Tr is a route along which the

moving robot 100 has actually moved. The actual straight

route Tr is a route along which the moving robot 100 is found

to move through observation. The target straight route Tt

is identical to an actual straight route Tr of the case where

] the moving robot 100 drives the travelling unit 120 in a

method preset by an algorithm of the pattern travelling mode

on a horizontal travel surface.

The controller 190 controls the heading direction Dh to

be different from the target movement direction Dt only when

the inclination mode is activated. When it is determined,

based on tilt information, that the travel surface S is

horizontal, the controller 190 deactivates the inclination

mode and performs a control such that the heading direction

Dh becomes identical to the target movement direction Dt.

In the case where the moving robot 100 travels on a

horizontal travel surface S, even if the travelling unit 120

is controlled such that a direction in which the target

straight route Tt extends becomes identical to the heading

direction Dh, the target straight route Tt and the actual

straight route Tr would match with each other.

Referring to 0 in FIG. 10, if the target movement

direction Dt, which is a direction in which the target

straight route Tt extends, matches with the heading

direction Dh when the moving robot 100 travels on the travel

D surface S with an inclination equal to or greater than a

predetermined level, the actual movement direction Dr may

become a direction inclined further downward from the target

movement direction Dt, and the actual straight route Tr may

be noticeably different from the target straight route Tt.

] Referring to the example Q of FIG. 10, while the moving

robot 100 travels on the travel surface S with an inclination

equal to or greater than a predetermined reference

inclination, if the inclination mode is activated and the

heading direction Dh is set to be a direction between the

D target movement direction Dt and the upward inclination

direction SH, the actual movement direction DR becomes

relatively close to the target movement direction Dt and the

actual straight route Tr becomes relatively close to the

target straight route Tt.

Referring to FIG. 11, the principle of Q in FIG. 10 is

as follow. When the moving robot 100 travels on an inclined

travel surface S across the upward inclination direction SH,

a gravitational force Fg of the moving robot 100, a normal

force Fn exerted by the travel surface S, a travelling force

Fh exerted by the travelling unit 120, and a frictional force

Ff exerted toward the upward inclination direction SH of the

travel surface S due to slipping of the moving robot 100 in

a downward inclination direction SL are applied. A component

fl of the gravitational force Fg perpendicular to the travel

D surface S is completely offset by the normal force Fn which

is an opposite force thereto. In addition, a component f2

of the gravitational force Fg parallel to the travel surface

S is directed in the downward inclination direction SL, and

the frictional force Ff is directed in the upward inclination

] direction SH. Thus, a force f2-Ff is obtained as a result

of subtracting the component f2 by the frictional force Ff,

and the force f2-Ff is directed in the downward inclination

direction SL. A resultant force Fr, which is a combination

of the force f2-Ff and the travelling force Fh, is an actual

force applied to the moving robot 100, and a direction of

the resultant force Fr tils from the direction of the

travelling force Fh toward the downward inclination

direction. The closer the angle between the direction of

the resultant force Fr and the direction of the travelling

force Fh become close to the compensation angle, the closer

the target straight route Tt and the actual straight route

Tr become to each other. That is, the direction of the

travelling force Fh becomes the heading direction Dh, and

the direction of the resultant force Fr becomes the actual

movement direction Dr.

Referring to FIG. 12, in the case where the body 110 is

located at a position corresponding to a position on the

target straight route Tt while the pattern travelling mode

is activated, the heading direction Dh may be set while the

D target movement direction Dt is considered a direction in

which the target straight route Tt extends. A reference

target movement direction Dt(1), Dt(2), Dt(3), or Dt(4) may

depend on which target straight route Tt that the body 110

is located from among a plurality of target straight routes

] Tt. In addition, a heading direction Dhl(1), Dh(2), Dh(3),

or Dh(4) may be set according to the reference target

movement direction. In FIG. 12, when the moving robot 100

is located at a position corresponding to a position on the

target straight route Dt(1), a heading direction Dh(1) is

D set. When the moving robot 100 is located at a position

corresponding to a position on a target straight route Dt(2),

a heading direction Dh(2) is set. When the moving robot 100

is located at a position corresponding to a position on a

target straight route Dt(3), a heading direction Dh(3) is

set. When the moving robot 100 is located at a position

corresponding to a position on a target straight route Dt(4),

a heading direction Dh(4) is set.

Meanwhile, referring to FIG. 13, the rotational

movement compensation control will be described in more

detail. Through the rotational movement compensation control, it is possible to compensate for slipping of the moving robot 100 in the downward direction SL when the moving robot 100 rotationally moves by making a turn in the upward inclination direction SH of the travel surface S.

D A target rotational route Ct is an abstract target route

that is preset by a predetermined algorithm. The target

rotational route Ct is preset irrespective of inclination of

the travel surface S. While the target rotational route Ct

is preset, the controller 190 performs the rotational

J movement compensation control. A target rotational route Ct

of the moving robot 100 at a current point in time is a

constant reference route that is irrespective of inclination

of the travel surface S, on which the moving robot 100 is

placed at the current point in time, or a degree of the

inclination.

An actual rotational route Cr is a route along which

the moving robot 100 has actually moved. The actual

rotational route Cr is a route along which the moving robot

100 is found to move through observation. The target

rotational route Ct is identical to an actual rotational

route Cr of the case where the moving robot 100 drives the

travelling unit 120 in a method preset by an algorithm of

the pattern travelling mode on a horizontal travel surface.

A virtual rotational route Ch is a virtual route along

which the body 110 moves by the travelling unit 120 on the assumption that the travel surface S is horizontal. That is, when the rotational movement compensation control is performed based on tilt information of the travel surface S while the moving robot 100 is placed on the travel surface

D S at a current point in time, a rotational route of the case

where a driving method of the travelling unit 120 according

to the rotational movement compensation control is

implemented on the horizontal travel surface S becomes the

virtual rotational route Ch.

] A start point Po is a point at which the moving robot

100 starts rotational movement. The start point Po is a

start point of the target rotational route Ct. In addition,

the start point Po is a start point of the actual rotational

route Cr. In addition, the start point Po is a start point

D of the virtual rotational route Ch.

A target end point Pt is an end point of the target

rotational route Ct.

An actual end point Pr is an end point of the actual

rotational route Cr.

A virtual end point Ph is an end point of the virtual

rotational route Ch.

The start point Po of the target rotational route Ct,

the start point Po of the actual rotational route Cr, and

the start point Po of the virtual rotational route Ch match

with each other, but the respective end points Pt, Pr, and

Ph may differ depending on inclination of the travel surface

S.

When the moving robot 100 travels on a horizontal travel

surface, the controller 190 drives the travelling unit 120

in a preset first method such that the body 110 moves along

the target rotational route Ct. That is, the first method

of driving the travelling unit 120 is a method of driving

the travelling unit 120 in a state in which the inclination

mode is deactivated.

] For example, the method of driving the travelling unit

120 (a first method, a second method, a first driving method,

and a second driving method) may be a method of controlling

a rotation direction and a rotation speed of each of the

pair of the driving wheels 120(L) and 120(R) at each time.

When the moving robot 100 travels on a travel surface

having an inclination equal to or greater than a

predetermined reference inclination, the controller 190 may

determine, based on the tilt information, whether the target

end point Pt is located further toward the upward inclination

direction compared to the start point Po (at this point,

when the travel surface S has an inclination equal to or

greater than the predetermined reference inclination, the

controller 190 may activate the inclination mode). In this

case, on the assumption that tilt information for a current

position is the same in the target rotational route Ct, the controller 190 may determine whether the target end point Pt is located further toward the upward inclination direction compared to the start point Po. The example of FIG. 13 shows that the target end point Pt is located further toward the

D upward inclination direction SH compared to the start point

Po. When the target end point Pt is located toward the

upward inclination direction SH compared to the start point

Po, the controller 190 may drive the travelling unit 120 in

the second method such that the virtual end point Ph is

] located further toward the upward inclination direction SH

compared to the target end point Pt.

The second method is preset different from the first

method. The second method of driving the travelling unit

120 is a method of driving the travelling unit 120 when the

inclination mode is activated.

In response to a change in acquired tilt information,

the controller 190 drives the travelling unit 120 to change

a distance in the upward inclination direction SH between

the virtual end point Ph and the start point Po. The

controller 190 controls the travelling unit 120 such that

the distance in the upward inclination direction SH between

the virtual end point Ph and the start point Po increases in

proportion to a tilt value. Specifically, the second method

of driving the travelling unit 120 is a driving method which

is changed in response to the change of the tilt information.

The controller 190 drives the travelling unit 120 in

the second method only when the inclination mode is

activated. When it is determined, based on the tilt

information, that the travel surface S is horizontal, the

D controller 190 deactivates the inclination mode and performs

a control such that the actual rotational route Cr becomes

identical to the target rotational route Ct.

When the body 110 starts to move along the target

rotational route Ct, the controller 190 drives the

] travelling unit 120 in the second method. When the body 110

starts to move along the target rotational route Ct while

the pattern travelling mode is activated, the controller 190

starts to drive the travelling unit 120 in the second method.

Referring to 0 of FIG. 13, if the travelling unit 120

is driven in the first method without the inclination mode

being activated when the moving robot 100 rotationally moves

upward over the travel surface S having an inclination equal

to or greater than a predetermined reference inclination,

the actual rotational route Cr may have a short radius of

rotation compared to the target rotational route Ct. In

this case, the actual end point Pr may be located further

toward the downward inclination direction compared to the

target end point Pt, and the actual rotational route Cr may

be noticeably different from the target rotational route Ct.

Referring to the example Q of FIG. 13, while the moving

robot 100 rotationally moves upward over the travel surface

S having an inclination equal to or greater than a

predetermined reference inclination, if the inclination mode

is activated and thereby the travelling unit 120 is driven,

the actual end point Pr becomes relatively close to the

target end point Pt and the actual rotational route Cr

becomes relatively close to the target rotational route Ct.

Meanwhile, referring to FIG. 14, the special mode for

D the direction converting motion will be described in more

detail as below. Using the special mode, it is possible to

address the problem that, when the moving robot 100 performs

the direction converting motion on an inclined travel

surface S, the motion termination condition is hardly

D satisfied because the moving robot 100 slips toward the

downward inclination direction SL and move away from the

wires 290.

When the moving robot 100 is placed in a horizontal

travel surface S, the special mode is not activated. A

normal direction converting route Kt in FIG. 14 is an example

of a route of the case where the moving robot 100 performs

the direction converting motion on a horizontal travel

surface. In the example of FIG. 14, the moving robot 100

determines that the motion start condition is satisfied,

based on a border signal which is sensed at a motion start point Pk in a travel area In. If a travel surface is a horizontal, the moving robot 100 moves along the normal direction converting travel lath Kt by driving the travelling unit 120 in a first driving method which will be described later. While moving along the normal direction converting route Kt, the moving robot 100 determines that the motion termination condition is satisfied, based on a border signal sensed at a motion end point Pe, and terminates the direction converting motion.

] An actual direction converting route Kr is a route along

which the moving robot 100 has actually moved. The actual

direction converting route Kr is a route along which the

moving robot 100 is found to move through observation. The

normal direction converting route Kt is identical to an

D actual direction converting route Kr of the case where the

moving robot 100 drives the travelling unit 120 in a preset

method on a horizontal travel surface while the special mode

is deactivated.

A virtual direction converting route Kh is a virtual

route along which the body 110 moves by the travelling unit

120 on the assumption that the travel surface is horizontal.

That is, when the rotational movement compensation control

is performed based on tilt information of a traveling surface

S while the moving robot 100 is currently placed on the

travel surface S, a direction converting route of the case where the method of driving the travelling unit 120 according to the rotational movement compensation control is implemented on a horizontal travel surface is the virtual direction converting route Kh.

D The virtual direction converting route Kh may include

a route of which a radius of rotation increasingly grows.

The virtual direction converting route Kh may include a route

of which a radius of rotation increasingly grows toward a

virtual movement direction. For example, the virtual

] direction converting route Kh may include a rotational route

in a spiral shape.

When the moving robot 100 performs the direction

converting motion while travelling on a horizontal travel

surface, the controller 1990 drives the travelling unit 120

in a preset first driving method such that the body 110 moves

along a predetermined normal direction converting route Kt.

That is, the first driving method of driving the travelling

unit 120 is a driving method for converting a direction of

the travelling unit 120 in a state in which the special mode

is deactivated.

When the moving robot 100 performs the direction

converting motion while travelling on a travel surface

having an inclination equal to or greater than a

predetermined reference inclination, the controller 190

drives the travelling unit 120 in the second driving method such that the virtual direction converting route Kh becomes different from the normal direction converting route Kt (in this case, when the travel surface S has the inclination equal to or greater than the predetermined reference inclination, the controller 190 may activate the special mode). The example Q of FIG. 14 shows a virtual direction converting route Kh of the case where driving of the travelling unit 120 in the second driving method is performed on an assumed horizontal travel surface. If the motion start

] condition is satisfied when it is determined, based on tilt

information of the travel surface, that the inclination of

the travel surface is equal to or greater than the

predetermined reference inclination, the controller 190

drives the travelling unit 120 in the second driving method.

D The second driving method is preset different from the

first driving method. The second driving method of driving

the travelling unit 120 is a method of driving the travelling

unit 120 when the motion start condition is satisfied while

the special mode is activated.

In response to a change in acquired tilt information,

the controller 190 may drive the travelling unit 120 so as

to change the virtual direction converting route Kh. The

controller 190 may drive the travelling unit 120 such that

a radius rotation of the virtual direction converting route

Kh increasingly grows in proportion to a tilt value.

Referring to the example 0 of FIG. 14, In the case where

the moving robot 100 performs the direction converting

motion on a travel surface S having an inclination equal to

or greater than a predetermined reference inclination, when

the travelling unit 120 is driven in the first driving method

without the special mode being deactivated, the actual

direction converting route Kr may have a route which slides

toward the downward inclination direction compared to the

normal direction converting route Kt and circles around.

] In this case, if the downward inclination direction SL is a

direction distal from the wire 290, due to slipping of the

moving robot 100 toward the downward inclination direction,

the moving robot 100 may not be able to approach the wire

290 up to a point where the motion termination condition is

D satisfied.

Referring to the example Q of FIG. 14, in the case where

the moving robot 100 performs the direction converting

motion on a travel surface S having an inclination equal to

or greater than a predetermined reference inclination, when

the special mode is activated and thereby the travelling

unit 120 is driven in the second driving method, the moving

robot 100 may receive a travelling force toward the upward

inclination direction SH for a longer time. In this case,

although the travel surface s has the inclination, the moving

robot 100 is able to approach the wire 290 up to a point where the motion termination condition is satisfied, and therefore, the moving robot 100 may terminate the direction converting motion properly.

According to the above-described solution, in the case

where a travel surface has an inclination, even though a

moving robot slips in a downward inclination direction, it

is possible to induce the moving robot to travel in close

proximity to a target route.

According to the above-described solution, by taking

] into consideration an inclination of a travel surface, it is

possible to control a moving robot to move along a route in

the closest proximity to a target route.

According to the above-described solution, it is

possible to prevent a failure of the moving robot 100 to

D terminate a direction converting motion, the failure which

occurs because the moving robot 100 slips when converting a

direction in accordance with a border signal from the wire.

In the case where a tilt value increases in a relatively

short period of time due to vibration or a local surface

curve during movement of the moving robot, the inclination

mode may remain deactivated using the inclination mode

condition, it is possible to reduce a probability of

unnecessary activation of the inclination mode, by

maintaining the inclination mode in a deactivated state.

A movement direction of the front of the body 110 at

the start of the direction converting motion may be preset

to be a direction in which the front of the body 110 moves

away from the wire 190. Using the above-described direction

D converting motion, it is possible to considerably reduce a

probability of a facility or a human out of the border, or

the moving robot 100 itself to be damaged.

Claims (16)

WHAT IS CLAIMED IS:

1. A moving robot comprising:

a body defining an exterior;

a travelling unit configured to move the body against

a travel surface;

an operation unit disposed in the body and configured

to perform a predetermined operation;

a tilt information acquisition unit configured to

J acquire tilt information on a tilt of the travel surface;

and

a controller configured to, when a target movement

direction preset irrespective of an inclination of the

travel surface crosses an upward inclination direction of

the travel surface, control a heading direction, which is a

direction of a travelling force preset to be applied by the

travelling unit to the body, to be a direction between the

target movement direction and the upward inclination

direction based on the tilt information,

wherein the controller is further configured to

activate a predetermined inclination mode when it is

determined, based on the tilt information, that a

predetermined inclination mode is satisfied, and to control

the heading direction to be different from the target movement direction only when the inclination mode is activated, wherein when a target rotational route is preset irrespective of inclination of the travel surface, the controller is further configured to: a) in a case of travelling on a horizontal travel surface, drive the travelling unit in a preset first method such that the body moves along the target rotational route; and

D b) in a case of travelling on a travel surface

having an inclination equal to or greater than a

predetermined reference inclination, when it is determined,

based on the tilt information, that a target end point of

the target rotational route is located further toward an

upward inclination direction of the travel surface compared

to a start point of the target rotational route, control the

travelling unit in a second method preset different from the

first method such that a virtual end point of a virtual

rotational route, along which the body moves by the

travelling unit when the travel surface is assumed

horizontal, is located further toward the upward inclination

direction compared to the target end point.

2. The moving robot of claim 1, wherein the

travelling unit comprises: a driving motor module configured to generate a driving force; and a driving wheel rotating by the driving force, and wherein the travelling force is a force applied to the body by rotation of the driving wheel.

3. The moving robot of claim 1, wherein the

controller is further configured to control the heading

D direction to be identical to the target movement direction

when it is determined, based on the tilt information, that

the travel surface is horizontal.

4. The moving robot of claim 1, wherein the

controller is further configured to, in response to a change

in the tilt information, perform a control action to change

an angle between the heading direction and the target

movement direction.

5. The moving robot of claim 4, wherein the tilt

information comprises information on a tilt value, and

wherein the controller is further configured to control

the angle to increase in proportion to the tilt value.

6. The moving robot of claim 1, wherein the

inclination mode condition is preset to be satisfied when a

tilt value corresponding to the tilt information exceeds a

predetermined value for a predetermined period of time or

more while the body moves.

7. The moving robot of claim 1, wherein, at a

certain point in time when a predetermined target straight

route being preset irrespective of inclination of the travel

J surface is given, the target movement direction is a

direction in which the target straight route extends.

8. The moving robot of claim 7, wherein a

predetermined pattern route comprising a plurality of target

straight routes spaced apart from each other is preset.

9. The moving robot of claim 1, further comprising:

a border signal detector configured to detect a border signal

from an external wire,

wherein the controller is further configured to:

control the travelling unit to start a predetermined

direction converting motion when it is determined, based on

the border signal, that a predetermined motion start

condition is satisfied while the body moves, and to terminate

the direction converting motion when it is determined, based on the border signal, that a predetermined motion termination condition is satisfied after the direction converting motion starts; in a case of performing the direction converting motion while travelling on a horizontal travel surface, control the travelling unit in a preset first driving method such that the body moves along a predetermined normal direction converting route; and in a case of performing the direction converting motion

D while travelling on a travel surface having an inclination

equal to or greater than a predetermined reference

inclination, control the travelling unit in a second driving

method preset different from the first driving method such

that a virtual direction converting route, along which the

body moves by the travelling unit when the travel surface is

assumed horizontal, becomes different from the normal

direction converting route.

10. The moving robot of claim 1, wherein the

controller is further configured to, in response to a change

in the tilt information, drive the travelling unit so as to

change a distance in the upward inclination direction

between the virtual end point and the start point.

11. The moving robot of claim 10, wherein the tilt

information comprises information on a tilt value, and

wherein the controller is further configured to control

the travelling unit such that the distance increases in the

upward inclination direction between the virtual end point

and the start point in proportion to the tilt value.

12. The moving robot of claim 1, wherein the

controller is further configured to:

D activate a predetermined inclination mode when it is

determined, based on the tilt information, that a

predetermined inclination mode is satisfied; and

drive the travelling unit in the second method only

when the inclination mode is activated.

13. The moving robot of claim 1, wherein the

controller is further configured to drive the travelling

unit in the second method when the body starts to move along

the target rotational route.

14. The moving robot of claim 9, wherein the virtual

direction converting route comprises a route whose radius of

rotation increasingly grows.

15. The moving robot of claim 9, wherein the motion

start condition is preset to be satisfied when the border

signal detector approaches the wire within a predetermined

distance, and

wherein the motion termination condition is preset to

be satisfied when the border signal detector, which has moved

away from the wire in response to start of the direction

converting motion, approaches the wire within the

predetermined distance again.

16. The moving robot of claim 15, wherein the border

signal detector is disposed at a front of the body, and

wherein a moving direction of the front at a start of

the direction converting motion is preset to be a direction

in which the front moves away from the wire.

Fig. 1 1 / 14

Fig. 2 2 / 14

Fig. 3 3 / 14

Fig. 4 4 / 14

Fig. 5 5 / 14

Fig. 6 6 / 14

Fig. 7 7 / 14

Fig. 8 8 / 14

Fig. 9 9 / 14

Fig. 10 10 / 14

Fig. 11 11 / 14

Fig. 12 12 / 14

Fig. 13 13 / 14

Fig. 14 14 / 14